To minimize a pedal operation of a driver and to provide convenience of driving by flexibly controlling a maximum creep speed during a creep driving in a traffic congestion section, a vehicle includes: a radar configured to obtain speed information of a preceding vehicle and distance information to the preceding vehicle; a sensor configured to acquire behavior information of the vehicle; a controller configured to determine whether or not the vehicle has entered the traffic congestion section based on the behavior information of the vehicle, to determine a safety distance and a surplus distance related to the preceding vehicle, to determine a maximum creep speed and a creep torque based on the surplus distance, and to control operation of at least one of a motor or an engine to transmit the creep torque to a wheel of the vehicle.